Apparatus and methods for removing vertebral bone and disc tissue

ABSTRACT

Tissue removal probes comprise an elongated member, a drive shaft rotatably disposed within the member, and a rotatably tissue removal element mounted to the distal end of the drive shaft. One tissue removal element comprises a plurality of tissue-cutting filaments affixed at proximal and distal ends of the tissue removal element. The cutting filaments may have optional hinge points that allow the distal end of the tissue removal element to be inverted, thereby transforming the tissue removal element from a tissue-cutting device to a tissue-grasping device. Another tissue removal element may have a blunted tip to prevent distal tissue trauma and an irrigation port to provide irrigation fluid to the removed tissue and/or tissue removal element. Another tissue removal element has a proximal and distal spiral grooves that are oppositely pitched, so that removed tissue can be collected in the middle of the tissue removal element. Another tissue removal element has independent counter-rotating tissue removal elements to maintain stability during a bone cutting procedure. Still another tissue removal element takes the form of a drill bit with fluted cutting grooves. Yet another tissue removal element has cascading tissue-cutting notches that can be reciprocatably moved to remove tissue within a hole.

RELATED APPLICATIONS

This application is a continuation of co-pending U.S. application Ser.No. 14/266,075, filed Apr. 30, 2014, which is a continuation of U.S.application Ser. No. 10/793,185, filed Mar. 3, 2004, now U.S. Pat. No.8,784,421, which are expressly incorporated herein by reference.

FIELD OF THE INVENTION

The field of the invention pertains to medical devices and methods forremoving tissue, and in particular, vertebral bone and intervertebraldisc tissue.

BACKGROUND OF THE INVENTION

The spinal column consists of thirty-three bones called vertebra, thefirst twenty-four vertebrae of which make up the cervical, thoracic, andlumbar regions of the spine and are separated from each other by “pads”of tough cartilage called “intervertebral discs,” which act as shockabsorbers that provide flexibility, stability, and pain-free movement ofthe spine.

FIGS. 1 and 2 illustrate a portion of a healthy and normal spine, andspecifically, two vertebra 10 and two intervertebral discs 12 (only oneshown). The posterior of the vertebra 10 includes right and lefttransverse processes 14R, 14L, right and left superior articularprocesses 16R, 16L, and a spinous process 18. Muscles and ligaments thatmove and stabilize the vertebra 10 are connected to these structures.The vertebra 10 further includes a centrally located lamina 20 withright and left lamina 20R, 20L, that lie inbetween the spinous process18 and the superior articular processes 16R, 16L. Right and leftpedicles 22R, 22L are positioned anterior to the right and lefttransverse processes 14R, 14L, respectively. A vertebral arch 24 extendsbetween the pedicles 22 and through the lamina 20. The anterior of thevertebra 10 includes a vertebral body 26, which joins the vertebral arch24 at the pedicles 22. The vertebral body 26 includes an interior volumeof reticulated, cancellous bone (not shown) enclosed by a compactcortical bone 30 around the exterior. The vertebral arch 24 andvertebral body 26 make up the spinal canal (i.e., the vertebral foramen32), which is the opening through which the spinal cord 34 and epiduralveins (not shown) pass. Nerve roots 36 laterally pass from the spinalcord 34 out through the neural foramen 38 at the side of the spinalcanal formed between the pedicles 22. Structurally, the intervertebraldisc 12 consists of two parts: an inner gel-like nucleus (nucleuspulposus) 40 located centrally within the disc 12, and tough fibrousouter annulus (annulus fibrosis) 42 surrounding the nucleus 40.

A person may develop any one of a variety of debilitating spinalconditions and diseases. For example, as illustrated in FIG. 3, when theouter wall of the disc 12′ (i.e., the annulus fibrosis 42) becomesweakened through age or injury, it may tear allowing the soft inner partof the disc 12 (i.e., the nucleus pulposus 40) to bulge out, forming aherniation 46. The herniated disc 12′ often pinches or compresses theadjacent dorsal root 36 against a portion of the vertebra 10, resultingin weakness, tingling, numbness, or pain in the back, legs or arm areas.

Often, inflammation from disc herniation can be treated successfully bynonsurgical means, such as bedrest, therapeutic exercise, oralanti-inflammatory medications or epidural injection of corticosteroids,and anesthetics. In some cases, however, the disc tissue is irreparablydamaged, in which case, surgery is the best option.

Discectomy, which involves removing all, or a portion, of the affecteddisc, is the most common surgical treatment for ruptured or herniateddiscs of the lumbar spine. In most cases, a laminotomy or laminectomy isperformed to visualize and access the affected disc. Once the vertebrae,disc, and other surrounding structures can be visualized, the surgeonwill remove the section of the disc that is protruding from the discwall and any other offending disc fragments that may have been expelledfrom the disc. In some cases, the entire disc may be removed, with orwithout a bony fusion or arthroplasty (disc nucleus replacement or totaldisc replacement).

Open discectomy is usually performed under general anesthesia andtypically requires at least a one-day hospital stay. During thisprocedure, a two to three-inch incision in the skin over the affectedarea of the spine is made. Muscle tissue may be separated from the boneabove and below the affected disc, while retractors hold the wound openso that the surgeon has a clear view of the vertebrae and disc andrelated structures. The disc or a portion thereof, can then be removedusing standard medical equipment, such as rongeurs and curettes.

Because open discectomy requires larger incisions, muscle stripping orsplitting, more anesthesia, and more operating, hospitalization, and alonger patient recovery time, the trend in spine surgery is movingtowards minimally invasive surgical techniques, such as microdiscectomyand percutaneous discectomy.

Microdiscectomy uses a microscope or magnifying instrument to view thedisc. The magnified view may make it possible for the surgeon to removeherniated disc material through a smaller incision (about twice as smallas that required by open discectomy) with smaller instruments,potentially reducing damage to tissue that is intended to be preserved.

Percutaneous discectomy is often an outpatient procedure that may becarried out by utilizing hollow needles or cannulae through whichspecial instruments can be deployed into the vertebra and disc in orderto cut, remove, irrigate, and aspirate tissue. X-ray pictures and avideo screen and computer-aided workstation may be used to guide by thesurgeon into the treatment region. Improved imaging and video orcomputer guidance systems have the potential to reduce the amount oftissue removal required to access and treat the injured tissue orstructures. Sometimes an endoscope is inserted to view the intradiscaland perivertebral area.

Besides disc hernias, other debilitating spinal conditions or diseasesmay occur. For example, spinal stenosis, which results from hypertrophicbone and soft tissue growth on a vertebra, reduces the space within thespinal canal. When the nerve roots are pinched, a painful, burning,tingling, and/or numbing sensation is felt down the lower back, downlegs, and sometimes in the feet. As illustrated in FIG. 2, the spinalcanal 32 has a rounded triangular shape that holds the spinal cord 34without pinching. The nerve roots 36 leave the spinal canal 32 throughthe nerve root canals 38, which should be free of obstruction. As shownin FIG. 4, hypertrophic bone growth 48 (e.g., bone spurs, osteophytes,spondylophytes) within the spinal canal 32, and specifically from thediseased lamina 20 and proximate facet joints may cause compression ofthe nerve roots, which may contribute or lead to the pain of spinalstenosis. Spinal stenosis may be treated by performing a laminectomy orlaminectomy in order to decompress the nerve root 36 impinged by thebone growth 48. Along with the laminectomy, a foraminotomy, (i.e.,enlarging of the channel from which the nerve roots 36 exit isperformed). Depending on the extent of the bone growth, the entirelamina and spinal process may be removed.

Another debilitating bone condition is a vertebral body compressionfracture (VCF), which may be caused by spinal injuries, bone diseasessuch as osteoporosis, vertebral hemangiomas, multiple myeloma, necoroticlesions (Kummel's Disease, Avascular Necrosis), and metastatic disease,or other conditions that can cause painful collapse of vertebral bodies.VCFs are common in patients who suffer from these medical conditions,often resulting in pain, compromises to activities of daily living, andeven prolonged disability.

On some occasions, VCFs may be repaired by cutting, shaping, andremoving damaged bone tissue inside a vertebra to create a void, andthen injecting a bone cement percutaneously or packing bone graft intothe void. This is typically accomplished percutaneously through acannula to minimize tissue trauma. The hardening (polymerization) of abone cement media or bone grafting or other suitable biomaterial servesto buttress the bony vault of the vertebral body, providing bothincreased structural integrity and decreased pain that may be associatedwith micromotion and progressive collapse of the vertebrae.

Thus, it can be appreciated that in many spinal treatment procedures,bone and/or disc tissue must be removed in order to decompress neuraltissue or rebuild the bony vertebra or intervertebral disc. In the caseof target bone tissue that is adjacent spinal tissue, a physician isrequired to exercise extreme care when cutting away the target bonetissue (e.g., during a laminectomy and foraminotomy), such that injuryto spinal tissue can be prevented. A physician may have difficultycontrolling existing bone removal devices, however, and mayunintentionally remove healthy bone tissue or injure spinal tissueduring use. This problem is exacerbated with percutaneous treatments,which, although less invasive than other procedures, limit the range ofmotion of the cutting instrument, thereby further limiting the controlthat the physician may have during the bone cutting procedure.

Burr-type tissue removal probes may also be used to remove soft tissue,such as the gel-like nuclear tissue within the intervertebral disc orthe cancellous bone tissue within the vertebral body. For example, FIG.5 illustrates one prior art burr-type tissue removal probe 50 that canbe introduced through a delivery cannula (not shown) into contact withthe target tissue region to be removed. The tissue removal probe 50comprises a rigid shaft 52 and a rotatable burr 54 associated with thedistal end of the rigid shaft 52. Rotation of a drive shaft 56 extendingthrough the rigid shaft 52, in turn, causes rotation of the burr 54(either manually or via a motor), thereby removing tissue that comes incontact with the burr 54. Notably, the tissue removal probe 50 islaterally constrained within the cannula (or if a cannula is not shown,constrained by the many layers of tissue that the device 50 musttraverse to reach the target tissue), and thus, can only be effectivelymoved along its longitudinal axis, thereby limiting the amount of tissuethat can be removed to the tissue that is on-axis. As such, the tissueremoval probe 50 may have to be introduced through several access pointswithin the anatomical body (e.g., the disc or vertebral body) thatcontains the target tissue in order to remove the desired amount of thetissue.

As illustrated in FIG. 6, the distal end 58 of the rigid shaft 52 may becurved in an alternative prior art removal device 60, so that the burr54 is off-axis from the shaft 52. As such, off-axis target regions canbe reached by rotating and axially displacing the rigid shaft 52 aboutits axis. Because the length of the curved distal end is fixed, however,only the tissue regions that are off-axis by a distance equal to theoff-axis distance of the burr 54 will be removed, as illustrated in FIG.7. In effect, the removal device 60 can only remove a cylindricaloutline 62 of the tissue, leaving a cylindrical tissue body 64 behind.Thus, the tissue removal probe 60 must still be introduced into thetissue via several access holes in order to remove any remaining tissue.

In addition, because the distal end of the rigid shaft 52 is curved andhas a length of the distal tip that is now at an angle to the mainshaft, the delivery cannula must be made larger to accommodate theentire profile of the distal end. Thus, the incision through which thecannula is introduced must likewise be made larger. Lastly, if theanatomical body in which the removal device 60 is introduced isrelatively thin (e.g., an intervertebral disc is a few millimetersthick), the top or bottom of the anatomical body may hinder movement ofthe burr 54 as the shaft 52 is rotated around its axis. In such cases,the removal device 60 may have to be introduced along the bottom of theanatomical body to allow tissue to be removed at the top of theanatomical body (i.e., by sweeping the burr 54 along an upper arc untilthe burr 54 hits the top, or if clearance at the top is available, bysweeping the burr 54 along the upper arc, below the top, until the burr54 hits the bottom), and then reintroduced along the top of theanatomical body to allow tissue to be removed at the bottom of theanatomical body (i.e., by sweeping the burr 54 along a lower arc untilthe burr 54 hits the bottom, or if clearance at the bottom is available,by sweeping the burr 54 along the lower arc, above the bottom, until theburr 54 hits the top). As can be appreciated, this excessive movement ofthe removal device 60 increases the time of the spinal procedure as wellas surgical risk due to manipulation of the device.

Another problem with current burr-type removal devices is that softmaterial, such as the nuclear material in an intervertebral disc orcancellous bone within the vertebral body, tends to stick to the burrs,thereby limiting the abrasive effect that the burrs are intended to havein order to efficiently remove tissue. As a result, burr-type removaldevice may have to be continuously removed from the patient's body inorder to clean the soft tissue from the burr.

Furthermore, during the tissue removal or cutting process, a media, suchas saline, is generally delivered via a tube to a target site forclearing debris. The delivered media together with the debris are thenremoved from the target site via a separate tube (i.e., the media andthe debris are aspirated into a vacuum port of the tube). When the spineis treated percutaneously, however, the delivery cannula must be madelarge enough to accommodate the tissue removal probe and tubes. As aresult, the incision through which the cannula is to be introduced mustbe made relatively large, thereby unnecessarily causing more tissuetrauma.

There, thus, remains a need to provide for improved tissue removalprobes and methods for use during spinal treatment and other surgeries.

SUMMARY OF THE INVENTION

The present inventions are directed to tissue removal probes that arecapable of removing tissue, such as vertebral bone tissue, although suchtissue removal probes may be used to remove tissue from other bonestructure, such as the skull, humerus, radius, ulna, femur, fibula,tibia, hip bone, and bones within the hands and feet. In addition, someof the tissue removal probes lend themselves well to the removal of softtissue, such as cancellous bone or intervertebral disc tissue. Some ofthe tissue removal probes also lends themselves to laterally cuttingbone tissue, e.g., in a laminectomy procedure. The tissue removal probesof the present inventions comprise an elongated member (such as asleeve) having a lumen, a drive shaft rotatably disposed within themember lumen, and a rotatably tissue removal element mounted to thedistal end of the drive shaft. They may be combined into a tissueremoval assembly that includes a cannula in which the tissue removalprobe can be slidably disposed.

In accordance with a first aspect of the present invention, the tissueremoval element comprises a plurality of tissue-cutting filamentsaffixed at proximal and distal ends of the tissue removal element. Inone embodiment, the tissue removal element comprises a base membermounted to the distal end of the drive shaft and a distal hub. Thefilaments are connected between the base member and the distal hub. Thefilaments can be variously configured. In one embodiment, the filamentsare interlaced, e.g., to provide the tissue removal element withincreased structural integrity. In another embodiment, the filaments arelooped. The tissue removal element may further include abrasiveparticles disposed on the filaments. The tissue removal probe optionallycomprises a proximal adapter mounted to the member for mating with adrive unit. The tissue removal probe may optionally comprise a guidewire extending through the tissue removal element in order to providelateral support. By way of non-limiting example, the large spaces formedbetween the tissue-cutting filaments prevents or minimizes the build upof tissue on the tissue removal element.

In accordance with a second aspect of the present inventions, thetissue-cutting filaments have hinge points that divide the filamentsinto proximal filament segments and distal filament segments. The tissueremoval probe further comprises a pull element mounted to the distal endof the tissue removal element. Pulling the pull element causes thedistal filament segments to hinge towards the proximal filament segmentsto form folded filaments configured to be used as tissue-grasping arms.In this manner, the tissue removal element can be either used as atissue-cutting device or a tissue-grasping device. In one embodiment,the hinge points can be located distal of the filament midpoints, so asto make the tissue-grasping arms shorter, thus increasing their lateralstrength. In one embodiment, the pulling of the pull element causes thedistal end of the tissue removal element to invert. The pull element maybe slidably disposed in a lumen within the drive shaft.

In accordance with a third aspect of the present inventions, the driveshaft is rigid and has a distal end with a blunt tip, e.g., a sphericaltip. In this manner, inadvertent tissue trauma distal to the tissueremoval element is prevented or minimized. The tissue removal probefurther comprises a lumen extending through the drive shaft andterminating in a flush port at the blunt tip. In this manner, aconvenient means of providing irrigation fluid to the tissue and/ortissue removal element is provided. The tissue removal element can takethe form of any element, but in one embodiment, it is an abrasive burr.A spiral cutting groove can be provided on the tissue removal element,so as to facilitate movement of the removed tissue in the proximaldirection. The optional proximal adapter may be configured for matingwith both a drive unit and an irrigation source.

In accordance with a fourth aspect of the present inventions, the tissueremoval element has a proximal spiral groove and a distal spiral groove.The proximal and distal spiral grooves are oppositely pitched. By way ofnon-limiting example, the oppositely pitched spiral grooves provides aconvenient means for collecting the removed tissue. In particular, theremoved tissue will be forced to move along the grooves to the center ofthe tissue removal element when rotated in a particular direction.

In accordance with a fifth aspect of the present inventions, the driveshaft can be an outer drive shaft with a lumen. The tissue removaldevice also has an inner drive shaft rotatably disposed within the outerdrive shaft lumen. In this manner, the outer and inner drive shaft mayrotate independently relative to each other, e.g., in oppositedirections or in the same direction. The tissue removal probe comprisestwo tissue removal elements—one mounted to the outer drive shaft, andthe other mounted to the inner drive shaft. The tissue removal elementsmay be in a proximal and distal relationship and may be coextensive witheach other, so that the tissue removal elements effectively act as onetissue removal element. By way of non-limiting example, the independentrotation of the drive shafts provides a convenient means for rotatingthe two tissue removal elements in opposite directions or in the samedirection.

The tissue removal elements may take the form of any element, but in oneembodiment, they take the form of two separate burrs. The tissue removalelements may advantageously have oppositely pitched spiral cuttinggrooves. In this manner, when rotated in opposite directions, thecutting action of the tissue removal elements is steadier, and minimizesstray from the cutting line. When rotated in the same direction, theremoved tissue is forced to travel along the cutting grooves to theinterface between the tissue removal elements, where it can be collectedand aspirated.

In accordance with a sixth aspect of the present inventions, the tissueremoval probe may comprise a rigid shaft and a drill bit formed on thedistal end of the rigid shaft. The rigid shaft may be slidably disposedwithin a cannula lumen, in which case, the sheath may be optional. Thedrill bit has two fluted cutting grooves longitudinally extending alongopposite sides of the drill bit. In this manner, the drill bit can beused to drill through bone tissue.

In accordance with a seventh aspect of the present inventions, thetissue removal element takes the form of a block on which a series oflongitudinally disposed cascading tissue-cutting notches are disposed.By way of non-limiting example, the tissue removal element can be usedto enlarge holes, grooves, channels or shaped defined by thetissue-cutting notches within bones by placing the tissue removalelement within the hole and applying a reciprocating motion to the driveshaft to in order to remove tissue with the cutting notches.

Other and further aspects and features of the invention will be evidentfrom reading the following detailed description of the preferredembodiments, which are intended to illustrate, not limit, the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings illustrate the design and utility of preferred embodimentsof the present invention. It should be noted that the figures are notdrawn to scale and that elements of similar structures or functions arerepresented by like reference numerals throughout the figures. In orderto better appreciate how the above-recited and other advantages andobjects of the present inventions are obtained, a more particulardescription of the present inventions briefly described above will berendered by reference to specific embodiments thereof, which areillustrated in the accompanying drawings. Understanding that thesedrawings depict only typical embodiments of the invention and are nottherefore to be considered limiting of its scope, the invention will bedescribed and explained with additional specificity and detail throughthe use of the accompanying drawings in which:

FIG. 1 is a perspective view of a portion of a spine;

FIG. 2 is a top view of a vertebra with a healthy intervertebral disc;

FIG. 3 is a top view of a vertebra with a herniated intervertebral disc;

FIG. 4 is a top view of a vertebra with spinal stenosis;

FIG. 5 is a prior art tissue removal probe;

FIG. 6 is another prior art tissue removal probe;

FIG. 7 is a plan view showing tissue removal using the tissue removalprobe of FIG. 6;

FIG. 8 is a perspective view of a tissue removal system arranged inaccordance with a preferred embodiment of the present invention;

FIG. 9 is perspective view of a tissue removal probe that can be used inthe system of FIG. 8;

FIG. 10 is a partially cutaway side view of the distal end of the probeof FIG. 9, particularly showing the tissue removal element retractedwithin the probe shaft;

FIG. 11 is a partially cutaway side view of the distal end of the probeof FIG. 9, particularly showing the tissue removal element partiallydeployed from the probe shaft;

FIG. 12 is a partially cutaway side view of the distal end of the probeof FIG. 9, particularly showing the tissue removal element fullydeployed from the probe shaft;

FIG. 13 is a perspective view of a variation of the probe of FIG. 9,particularly showing irrigation and aspiration lumens;

FIGS. 14A-14G are perspective views showing a method of using the tissueremoval system of FIG. 8 to remove tissue within a herniatedintervertebral disc;

FIG. 15 is a partially cutaway side view of the distal end of anothertissue removal probe that can be used in the tissue removal system ofFIG. 8, particularly showing the tissue removal element retracted withinthe probe shaft;

FIG. 16 is a partially cutaway side view of the distal end of the probeof FIG. 15, particularly showing the tissue removal element partiallydeployed from the probe shaft;

FIG. 17 is a partially cutaway side view of the distal end of the probeof FIG. 15, particularly showing the tissue removal element fullydeployed from the probe shaft;

FIG. 18 is perspective view of still another tissue removal probe thatcan be used in the system of FIG. 8;

FIG. 19 is a partially cut-away side view of the distal end of the probeof FIG. 18, particularly showing a tissue removal element;

FIG. 20 is a partially cut-away side view of a variation of the distalend of the probe of FIG. 18, particularly showing a variation of thetissue removal element;

FIG. 21 is perspective view of yet another tissue removal probe that canbe used in the system of FIG. 8;

FIGS. 22A-22D are side views of the distal end of the probe of FIG. 21,particularly showing a transformation of the probe from a tissue-cuttingdevice to a tissue-grasping device;

FIG. 23 is perspective view of yet another tissue removal probe that canbe used in the system of FIG. 8;

FIG. 24 is a partially cut-away side view of the distal end of the probeof FIG. 23;

FIG. 25 is perspective view of yet another tissue removal probe that canbe used in the system of FIG. 8;

FIG. 26 is a partially cut-away side view of the distal end of yetanother tissue removal probe that can be used in the system of FIG. 8;

FIG. 27 is perspective view of yet another tissue removal probe that canbe used in the system of FIG. 8;

FIG. 28 is a cross-sectional view of the probe of FIG. 27, taken alongthe line 28-28;

FIG. 29 is perspective view of yet another tissue removal probe that canbe used in the system of FIG. 8;

FIG. 30 is a partially cutaway side view of the distal end of stillanother tissue removal probe that can be used in the tissue removalsystem of FIG. 8, particularly showing the tissue removal elementretracted within the probe shaft;

FIG. 31 is a cross-sectional view of the distal end of the tissueremoval probe of FIG. 30, taken along the line 31-31;

FIG. 32 is a partially cutaway side view of the distal end of the probeof FIG. 30, particularly showing the tissue removal element partiallydeployed from the probe shaft;

FIG. 33 is a partially cutaway side view of the distal end of the probeof FIG. 30, particularly showing the tissue removal element fullydeployed from the probe shaft; and

FIGS. 34A-34D are perspective views showing a method of using the tissueremoval system of FIG. 8, with the tissue removal probe of FIG. 30, toremove tissue within a herniated intervertebral disc.

DETAILED DESCRIPTION OF THE EMBODIMENTS

FIG. 8 illustrates a tissue removal system 100 constructed in accordancewith a preferred embodiment of the present inventions. The system 100generally comprises a tissue removal probe assembly 102 and a rotarydrive unit 104 connected to the probe assembly 102 via a drive cable106. The drive unit 104 may take the form of a standard rotary driveused for powering medical cutting instruments. The tissue removal probeassembly 102 comprises a cannula 108 and a tissue removal probe 110disposed therein.

The cannula 108 comprises a shaft 112 having a distal end 114 andproximal end 116, a lumen 118 (shown in phantom) terminating in an exitport 120 at the distal end 114 of the cannula shaft 112, and a handle122 mounted on the proximal end 116 of the cannula shaft 112. Tofacilitate introduction through tissue, the cannula shaft 112 ispreferably stiff (e.g., it can be composed of a stiff material, orreinforced with a coating or a coil to control the amount of flexing),so that the cannula shaft 112 can penetrate the tissue without beingdamaged. The materials used in constructing the cannula shaft 112 maycomprise any of a wide variety of biocompatible materials. In apreferred embodiment, a radiopaque material, such as metal (e.g.,stainless steel, titanium alloys, or cobalt alloys) or a polymer (e.g.,ultra high molecular weight polyethylene) may be used, as is well knownin the art. Alternatively, if supported by a rigid member duringintroduction into the tissue, the cannula shaft 112 may be flexible. Thehandle 122 is preferably composed of a durable and rigid material, suchas medical grade plastic, and is ergonomically molded to allow aphysician to more easily manipulate the cannula 108.

The outer diameter of the cannula shaft 112 is preferably less than ½inch, but other dimensions for the outer diameter of the cannula shaft112 may also be appropriate, depending on the particular application orclinical procedure. The cannula lumen 118 should have an inner diameterso as to allow the tissue removal probe 110 to be slidably housedtherein, as will be described in further detail below. In theillustrated embodiment, the profile of the cannula lumen 118 iscircular, but can be other shapes as well. In the illustratedembodiment, the distal tip of the cannula shaft 112 is blunt. In thiscase, the thickness and cross-sectional profile of the cannula shaft 112is small enough, so that the distal tip can be used as a cutting ordeforming tool for boring or coring through tissue. Alternatively, thedistal tip of the cannula shaft 112 may be advantageously sharpened orwedged to facilitate its introduction into bone structure. Even morealternatively, a stilette (not shown) can be introduced through thecannula lumen 118 to provide an independent means for boring throughbone structure. In this manner, bone cores will not block the cannulalumen 118, which may otherwise prevent, or at least make difficult,deployment of the tissue removal probe 110 and other therapeuticmaterials.

Referring now to FIG. 9, the tissue removal probe 110 will described infurther detail. The tissue removal probe 110 comprises a sleeve 124having a distal end 126 and a proximal end 128, and a lumen 130 (shownin phantom) extending through the sleeve 124. The tissue removal probe110 further comprises a drive shaft 132 rotatably disposed within thesleeve lumen 130 and a rotatable tissue removal element, and inparticular, an abrasive burr 134, mounted to the distal end of the driveshaft 132. The burr 134 has a pattern of cutting edges 136 thatfacilitate removal of tissue that comes in contact with the rotatingburr 134. In the illustrated embodiment, the burr 134 is fully exposedin that it entirely resides outside of the sleeve 124. In alternativeembodiments, the burr 134 may be seated within the distal end of asheath, and exposed through a window cutout from the distal end of thesheath. Other types of tissue-cutting element can also be used in placeof the burr 134. Examples of other tissue-cutting elements willsubsequently be described.

The tissue removal probe 110 further comprises a proximal adapter 138mounted to the proximal end 128 of the sleeve 124. The proximal adapter138 is configured to be mated with the drive cable 106, therebyproviding a means for rotatably coupling the drive unit 104 to theproximal end of the drive shaft 132. Thus, operation of the drive unit104 will rotate the drive shaft 132, which in turn, will rotate the burr134 about its rotational axis 140. Details of the structure of standardtissue removal probes, including the aforementioned window-exposed burrand proximal adapter, are disclosed in U.S. Pat. No. 5,913,867, which isexpressly incorporated herein by reference.

The tissue removal probe 110 is rotatably disposed within the cannulalumen 118, such that the sleeve 124 (and in particular, the straightportion of the sleeve) has an axis of rotation 142 (i.e., the sleeve 124can be rotated about the rotational axis 142, e.g., when the proximalend 128 of sleeve distal end 126 is manually rotated). As illustrated inFIG. 9, the rotational axes 140 and 142 of the respective burr 132 andsleeve 124 are coincident with each other when the entirety of thesleeve 124 is straight. As will be described in below, the rotationalaxes 140 and 142 will diverge from each other when the distal end 126 ofthe sleeve 124 is curved or bent.

As illustrated in FIGS. 10-12, the tissue removal probe 110 is slidablydisposed in the cannula lumen 118 in the longitudinal direction, so thatthe burr 134 can be incrementally deployed from the exit port 120 of thecannula shaft 112 and retracted within the distal end 114 of the cannulashaft 112.

As can be seen from FIG. 10, when confined within the cannula lumen 118,the sleeve 124 assumes a substantially straight configuration andconforms to the shape of the cannula shaft 112. As can be seen fromFIGS. 11 and 12, the distal end 126 of the sleeve 124, when in itsrelaxed state, has a pre-shaped curved portion 144 and a pre-shapedstraight portion 146 distal to the curved portion 144. In theillustrated embodiment, the curved portion 144 defines an arc ofninety-degrees. It should be noted, however, the curved portion 144 maydefine other arcs. So that the distal end 126 of the sleeve 124 readilyassumes and maintains its defined shape, the sleeve 124 is composed of alaterally flexible, yet resilient, material, such as nitinol.Significantly, the drive shaft 132 is also laterally flexible, and thuseasily conforms to the curved geometry of the deployed sleeve distal end126. In this manner, the burr 134 will rotate about its rotational axis140 even if the drive shaft 132 is bent.

As can be appreciated from FIGS. 11 and 12, the distal end 126 of thesleeve 124 can be deployed from the cannula exit port 120 in stages. Forexample, the sleeve distal end 126 can be deployed a first distance fromthe distal end 114 of the cannula shaft 112, so that the burr 134defines a particular radius of revolution r₁ (shown in FIG. 11) aroundthe rotational axis 142 of the sleeve 124. The sleeve distal end 126 canbe deployed a second greater distance from the distal end 126 of thecannula shaft 112, so that the burr 134 defines a second greater radiusof revolution r₂ (shown in FIG. 12) around the rotational axis 142 ofthe sleeve 124 Thus, it can be appreciated that radius of revolution rof the burr 134 can be adjusted simply by displacing the sleeve 124within the cannula lumen 118.

As illustrated in FIG. 13, the tissue removal probe 110 can optionallyhave irrigation and aspiration capability. In particular, the sleeve124, in addition to having the lumen 130 through which the drive shaft132 extends, includes irrigation and aspiration lumens 148 and 150(shown in phantom). The irrigation lumen 148 terminates at an irrigationoutlet port 152 in the sleeve distal end 126 and proximally terminatesat an irrigation inlet port (not shown) in the proximal adapter 138.Likewise, the aspiration lumen 150 terminates at an aspiration entryport 154 in the sleeve distal end 126 and proximally terminates at anaspiration outlet port (not shown) in the proximal adapter 138.Alternatively, irrigation and/or aspiration ports can be placed in theburr 134.

As can be appreciated, a pump (not shown) can be connected to theirrigation inlet port on the proximal adapter 138 in order to flushirrigation fluid, such as saline, through the irrigation lumen 148 andout the irrigation outlet port 152. The irrigation fluid helps cool thedrive shaft 132 and/or the burr 134, while the burr 134 is rotating athigh speed and grinding against tissue. The media also washes awaydebris at the target site. A vacuum (not shown) can be connected to theaspiration outlet port on the proximal adapter 138 in order to aspiratethe removed tissue into the aspiration inlet port 154, through theaspiration lumen 150, and out of the aspiration outlet port. Becausethere are separate irrigation and aspiration lumens 148 and 150, boththe pump and aspirator can be activated simultaneously or separately.

Having described the structure of the tissue removal system 100, itsoperation will now be described with reference to FIGS. 14A-14G, inremoving soft tissue from an anatomical body, and in particular, inperforming a discectomy on a herniated intervertebral disc. It should benoted, however, that other tissue, such as the cancellous tissue withina vertebral body, could also be removed by the tissue removal system100.

First, the cannula 108 is introduced through a small incision 41 in theback 39 and into the herniated disc 12′ (FIG. 14A). In somecircumstances, a laminectomy may have to be performed to access the disc12′. In such cases, the cannula 108 may be used to bore through thelamina (not shown). Torsional and/or axial motion may be applied to thecannula 108 to facilitate boring of the lamina. The torsional and/oraxial motion may be applied manually or mechanically (i.e., by amachine). An object, such as a hammer or a plunger, may also be used totap against the handle 122 of the cannula 108 in order to facilitateboring through the lamina. Alternatively, a stilette (not shown) can beintroduced through the cannula lumen (not shown in FIG. 14A) to create apassage through the lamina. Or, a separate drill or bone cutting device,such as those described below, can be used to bore or cut a passagethrough the lamina prior to placement of the cannula 108.

In the illustrated method, the cannula 108 is introduced into the disc12′, such that its distal tip is placed adjacent the distal-most regionof the target tissue. In this case, distal to the herniation 46. Next,the tissue removal probe 110 is introduced through the cannula lumen 118until the distal end 126 of the sleeve 124 deploys out from exit port120 of the cannula shaft 112 a first distance (FIG. 14B), which asdescribed above, associates the burr 134 with a first radius ofrevolution r₁ around the rotational axis 142 of the sleeve 124. Thetissue removal probe 110 can either be introduced into the cannula lumen118 prior to introduction of the cannula 108 into the patient's back (inwhich case, the tissue removal probe 110 will be fully retracted withinthe cannula lumen 118 during introduction of the cannula 108) or can beintroduced into the cannula lumen 118 after the cannula 108 has beenintroduced into, and properly positioned, within the disc 12′.

Next, the proximal adapter 138 of the tissue removal probe 110 is matedto the drive unit (shown in FIG. 8), which is then operated to rotatethe burr 134 about is own rotational axis 140. At the same time, thesleeve 124 is manually rotated (e.g., by rotating the proximal adapter138), which causes the burr 134 to scribe an arc a₁ around therotational axis 142 of the sleeve 124 (FIG. 14C). As a result, tissue isremoved by the rotating burr 134 along the arc a₁. In the illustratedmethod, the sleeve 124 is rotated until the burr 134 scribes an entirecircle around the rotational axis 142 of the sleeve 124. In this manner,a full circle of tissue is removed by the burr 134. In the illustratedmethod, the radius of revolution of the burr 134 is so short that bothon-axis and off-axis tissue is essentially removed. In effect, the burr134 removes a small disc of tissue at this point. It should be notedthat, during the tissue removal procedure, the removed tissue could beaspirated from the herniated disc 12′ using an aspirator. Aspiration ofthe tissue can be accomplished via the cannula or through anothercannula. Alternatively, as previously described, aspiration can beaccomplished via the tissue removal probe 110, itself.

Next, the tissue removal probe 110 is further introduced through thecannula lumen 118 until the distal end 126 of the sleeve 124 deploys outfrom the exit port 120 of the cannula shaft 112 a second greaterdistance (FIG. 14D), which as described above, associates the burr 134with a second greater radius of revolution r₂ around the rotational axis142 of the sleeve 124. Again, the drive unit 104 is operated to rotatethe burr 134 about is own rotational axis 140, while manually rotatingthe sleeve 124, which causes the burr 134 to scribe another larger arca₂ around the rotational axis 142 of the sleeve 124 (FIG. 14E). As aresult, a ring of tissue is removed by the rotating burr 134 along thelarger arc a₂. Again, the sleeve 124 is rotated until the burr 134scribes an entire circle around the rotational axis 142 of the sleeve124. In this manner, a full circle of tissue is removed by the burr 134.The difference between the first and second radii and of revolution r₁and r₂ is such that the disc of tissue removed by the burr 134 along thefirst arc a₁ is coextensive with the ring of tissue removed by the burr134 along the second arc a₂. The steps illustrated in FIGS. 14D and 14Ecan be repeated to remove even larger discs of tissue.

Next, the cannula 108 is displaced in the proximal direction, and thetissue removal probe 110 is retracted, so that the sleeve distal end 126deploys out from the exit port 120 of the cannula shaft 112 the firstdistance (FIG. 14F). The steps illustrated in FIGS. 14B-14E are thenrepeated to remove another disc of tissue (FIG. 14G). In the illustratedmethod, the proximal displacement of the cannula 108 is such that thefirst and second discs of removed tissue are contiguous. As such, acylinder of tissue is removed. A longer cylinder of tissue can beremoved by repeating the steps illustrated in FIGS. 14F and 14G. Afterthe discectomy has been completed (i.e., the herniated disc material hasbeen removed, or in some cases, the entire herniated disc has beenremoved), the cannula 108, along with the tissue removal probe 110, isremoved from the patient's body. Alternatively, prior to total removalof the cannula 108, the tissue removal probe 110 can be removed, and atherapeutic media, such as a drug or disc replacement material can bedelivered through the cannula lumen 118 into the disc 12′.

Although curved portion 144 of the sleeve distal end 126 is pre-shapedin order to create a radius of revolution r for the deployed burr 134,there are other means for bending the distal end of a sleeve as itdeploys from a cannula. For example, FIGS. 15-17 illustrate a tissueremoval assembly 202 that bends a deploying sleeve using the cannula,itself. In particular, the tissue removal assembly 202 comprises acannula 208, which is similar to the previously described cannula 108,with the exception that it comprises a cannula shaft 212 with a curveddistal end 214. In the illustrated embodiment, the distal end 214 of thecannula 208 assumes a ninety-degree curve. The tissue removal assembly202 comprises a tissue removal probe 210 that is similar to thepreviously described tissue removal probe 110, with the exception thatit comprises a sleeve 224 that does not have a pre-curved distal end.Instead, the entire sleeve 224 is configured to assume a straightconfiguration in its relaxed state.

As can be seen from FIG. 15, when confined within the cannula lumen 218,the sleeve 224 assumes a substantially straight configuration andconforms to the shape of the cannula shaft 212. As can be seen fromFIGS. 16 and 17, the distal end 226 of the sleeve 224 bends whendeployed from the distal end of the cannula shaft 112. That is, as it isdeployed, the sleeve distal end 226 contacts the inner surface of thecurved cannula distal end 214, thereby deflecting the sleeve distal end226 as its exits the cannula lumen 218. Like the previously describedsleeve 124, the sleeve is laterally resilient, such that it maintainsits shape as it deploys from the exit port 220 at the distal end 214 ofthe cannula shaft 212.

As with the previously described sleeve distal end 126, the sleevedistal end 226 can be deployed from the exit port 220 of the cannulashaft 212 in stages. For example, the sleeve distal end 226 can bedeployed a particular distance from exit port 220, so that the burr 134defines a particular radius of revolution r₁ (shown in FIG. 16) aroundthe rotational axis 242 of the sleeve 224. The sleeve distal end 226 canbe deployed a second greater distance from the exit port 220, so thatthe burr 134 defines a second greater particular radius of revolution r₂(shown in FIG. 17) around the rotational axis 242 of the sleeve 224.Thus, it can be appreciated that radius of revolution r of the burr 134can be adjusted simply by displacing the sleeve 224 within the cannulalumen 218.

Operation of the tissue removal assembly 202 in removing soft tissue issimilar to the operation of the previously described tissue removalassembly 102, and will thus, not be further described.

As another example, FIGS. 30-33 illustrate a tissue removal assembly 252that has a sleeve with steering functionality. In particular, the tissueremoval assembly 252 comprises the previously described cannula. 108,and a tissue removal probe 260 that is similar to the previouslydescribed tissue removal probe 110, with the exception that it does nothave a pre-curved distal end, but instead, comprises a pair of pullwires 254 (shown in FIG. 31) extending through a respective pair of pullwire lumens 256 contained within the sleeve 124. The distal ends of thepull wires 254 are mounted to the distal tip of the sleeve 124 in asuitable manner. As can be seen from FIG. 30, when confined within thecannula lumen 218, the sleeve 124 assumes a substantially straightconfiguration and conforms to the shape of the cannula shaft 112. As canbe seen from FIGS. 32 and 33, the distal end 126 of the sleeve 124, whendeployed from the exit port 120 of the cannula shaft 112, bends in onedirection when one of the pull wires 254 is pulled.

As with the previously described tissue removal probe 110, the sleevedistal end 126 can be deployed from the exit port 120 of the cannulashaft 112 in stages. For example, the sleeve distal end 126 can bedeployed a first distance from exit port 120 and one of the pull wires254 pulled to bend the sleeve distal end 126, so that the burr 134defines a particular radius of revolution r₁ (shown in FIG. 32) aroundthe rotational axis 142 of the sleeve 124. The sleeve distal end 126 canbe deployed a second greater distance from the exit port 120 and thepull wire 254 pulled to bend the sleeve distal end 126 again, so thatthe burr 134 defines a second greater particular radius of revolution r₂(shown in FIG. 33) around the rotational axis 142 of the sleeve 124.Thus, it can be appreciated that radius of revolution r of the burr 134can be adjusted simply by displacing the sleeve 124 within the cannulalumen 118 and pulling one of the pull wires 254 to bend the sleevedistal end 126.

Operation of the tissue removal assembly 252 in removing soft tissue issimilar to the operation of the previously described tissue removalassembly 102, with the exception that the pull wires 254 are used toactively bend the distal end 126 of the sheath 124.

Alternatively, as illustrated in FIGS. 34A-34F, the tissue removalassembly 252 may be used in a different manner to remove soft tissuefrom an anatomical body, and in particular, in performing a discectomyon a herniated intervertebral disc. This alternative method isaccomplished by bending the distal end 126 of the sleeve 124 in oppositedirections using the pull wires 254, while rotating the burr 134,thereby removing tissue in an arc that is coplanar with the plane of theaxis 142. In this case, a layer of tissue is removed in a plane that isparallel with the flat sides of the herniated disc.

In particular, after the cannula 108 is introduced into the herniateddisc 12′ in the same manner previously illustrated in FIG. 14A, thetissue removal probe 260 is introduced through the cannula lumen 118until the distal end 126 of the sleeve 124 deploys out from exit port120 of the cannula shaft 112 a first distance (FIG. 34A), whichassociates the burr 134 with a first radius of curvature r₁ (shown inFIG. 34B). Next, the proximal adapter 138 of the tissue removal probe210 is mated to the drive unit (shown in FIG. 8), which is then operatedto rotate the burr 134 about is own rotational axis 140. At the sametime, the distal end 126 of the sleeve 124 is bent in one direction bypulling one of the pull wires 254 (shown in FIG. 34A), which causes therotating burr 134 to scribe a ninety degree arc a₁ (as measured from thelongitudinal axis 142) around the distal tip of the sleeve 124 (FIG.34B). Next, the distal end 126 of the sleeve 124 is bent in the oppositedirection by pulling the other pull wire 254, which causes the rotatingburr 134 to scribe a one hundred eighty degree arc a₁ (ninety degreesabove the longitudinal axis 142 and ninety degrees below thelongitudinal axis 142) around the distal tip of the sleeve 124 (shown inphantom in FIG. 34B). In this manner, a semi-circle of tissue is removedby the burr 134. In the illustrated method, the radius of curvature ofthe burr 134 is so short that a solid radial sector of tissue isremoved. As with the previous methods, the remove tissue can optionallybe aspirated.

Next, the tissue removal probe 210 is further introduced through thecannula lumen 118 until the distal end 126 of the sleeve 124 deploys outfrom the exit port 120 of the cannula shaft 112 a second greaterdistance (FIG. 34C), which associates the burr 134 with a second greaterradius of curvature r₂ (shown in FIG. 34D). Again, the drive unit 104 isoperated to rotate the burr 134 about is own rotational axis 140, whilebending the distal end 126 of the sleeve 124 in one direction using thefirst pull wire 254 (shown in FIG. 34C), which causes the burr 134 toscribe another larger ninety degree arc a₂ around the distal tip of thesleeve 124 (FIG. 34D). Next, the distal end 126 of the sleeve 124 isbent in the opposite direction by pulling the other pull wire 254, whichcauses the rotating burr 134 to scribe a one hundred eighty degree arca₂ around the distal tip of the sleeve 124 (shown in phantom in FIG.34D). In this manner, a semi-circular ring of tissue is removed by theburr 134.

The difference between the first and second radii and of curvature r₁and r₂ is such that the radial sector of tissue removed by the burr 134along the first arc a₁ is coextensive with the semi-circular ring oftissue removed by the burr 134 along the second arc c₂. The stepsillustrated in FIGS. 34C and 34D can be repeated to remove even largerdiscs of tissue.

After the discectomy has been completed (i.e., the herniated discmaterial has been removed, or in some cases, the entire herniated dischas been removed), the cannula 108, along with the tissue removal probe110, is removed from the patient's body. Alternatively, prior to totalremoval of the cannula 108, the tissue removal probe 260 can be removed,and a therapeutic media, such as a drug or disc replacement material canbe delivered through the cannula lumen 118 into the disc 12′.

Referring now to FIGS. 18 and 19, another tissue removal probe 310 thatcan alternatively be used in the tissue removal system 100 will bedescribed. The tissue removal probe 310 comprises a sleeve 324 having adistal end 326 and a proximal end 328, and a lumen 330 (shown in phantomin FIG. 18) extending through the sleeve 324. The tissue removal probe310 further comprises a drive shaft 332 rotatably disposed within thesleeve lumen 330 and a rotatable tissue removal element, and inparticular, a rotatable cutting basket 334, mounted to the distal end ofthe drive shaft 332. The tissue removal probe 310 further comprises aproximal adapter 338 mounted to the proximal end 328 of the sleeve 324.The proximal adapter 338 is configured to be mated with the drive cable106, thereby providing a means for rotatably coupling the drive unit 104to the proximal end of the drive shaft 332. Thus, operation of the driveunit 104 will rotate the drive shaft 332, which, in turn, will rotatethe cutting basket 334 about its rotational axis 340. Like the tissueremoval probe 110, the tissue removal probe 310 can be rotatablydisposed within the lumen 118 of the cannula 108, so that the cuttingbasket 334 can be alternately deployed from and retracted into thedistal end 114 of the cannula shaft 112.

The cutting basket 334 comprises a base member 344, a distal hub 346,and a plurality of filaments 348 proximally affixed to the base member344 and distally affixed to the distal hub 346. The base member 344 ismounted to the distal end of the drive shaft 332 using suitable means,such as soldering or welding. The distal hub 346 is preferably rounded,such that only lateral tissue removal is achieved, and inadvertenttissue trauma distal to the cutting basket 334 is prevented. As shown inFIGS. 18 and 19, the shape of the filaments 348 is sinusoidal, althoughother shapes can be provided. Although three filaments 348 are shown,the cutting basket 334 may include a different number of filaments 348.The filaments 348 are also interlaced or braided to provide the cuttingbasket 334 with a more integral structure.

In alternative embodiments, however, the filaments 348 can configureddifferently. For example, FIG. 20 illustrates an alternative cuttingbasket 354, wherein the filaments 348, the proximal and distal ends ofwhich are mounted to the base member 344, thereby affixing the filaments348 at the proximal end of the cutting basket 334. The filaments 348 areaffixed at the distal end of the cutting basket 334 by looping thefilaments 348 through the distal hub 346.

Whichever filament configuration is used, the cross-sectional shape ofeach filament 348 can be circular, rectangular, elliptical, or othercustomized shapes. As can be appreciated, the large spaces between thefilaments 348 prevent, or at the least minimize, the build-up of tissueon the cutting basket 334. If bone tissue is to be removed, thefilaments 348 are preferably made from a tough material, such as steelor other alloys, so that it could penetrate or cut into a bone structurewithout being damaged. The stiffness of the filaments 348 are preferablyselected so that the cutting basket 334 is stiff enough to cut, deform,and/or compact target bone tissue. In the case where soft tissue is tobe removed, the filaments 348 may likewise be composed of a softmaterial. In any event, the material from which the filaments 348 aremade are resilient, such that cutting basket 334 assumes a low profilewhile residing within the cannula lumen 330, and is free to assume anexpanded profile when deployed outside of the cannula lumen 330. In theillustrated embodiment, the cutting basket 334 is 1 cm in length and ½cm in diameter.

In some embodiments, the filaments 348 have sharp edges, therebyproviding bone, disc or soft tissue cutting/drilling capability. Inother embodiments, the cutting basket 334 includes abrasive particles,such as diamond dusts, disposed on surfaces of the filaments 348, forcutting, digging, and/or sanding against target bone, disc or softtissue. The filaments 348 are connected between the base member 344 anddistal hub 346 and drive shaft 332 using means, such as a welding,brazing, or glue, depending on the materials from which the distal hub,filaments, and drive shaft 332 are made. Alternatively, the filaments348 are connected between the distal hub 346 and drive shaft 332 by asnap-fit connection, a screw connection, or otherwise aninterference-fit connection.

The tissue ablation probe 310 optionally comprises a guidewire 352 thatextends through a lumen 353 (shown in phantom) within the drive shaft332, and is mounted to the distal hub 346 of the cutting basket 334. Inthis manner, the lateral movement of the cutting basket 334 duringoperation is limited.

Referring now to FIG. 21, still another tissue removal probe 410 thatcan alternatively be used in the tissue removal system 100 will bedescribed. The tissue removal probe 410 is similar to the previouslydescribed tissue removal probe 310 in that it comprises the sleeve 324,drive shaft 332, and proximal adapter 338. The tissue removal probe 410differs from the tissue removal probe 310 in that it comprises a tissueremoval device, and in particular, a cutting basket, that can betransformed between a tissue-cutting device and a tissue grasper.

In particular, the cutting basket 434 comprises a base member 444, adistal hub 446, and a plurality of filaments 448 proximally affixed tothe base member 444 and distally affixed to the distal hub 446. The basemember 444 is mounted to the distal end of the drive shaft 332 usingsuitable means, such as soldering or welding. The distal hub 446 ispreferably rounded, such that only lateral tissue removal is achieved,and inadvertent tissue trauma distal to the cutting basket 434 isprevented. The filaments 448 may have the same composition as thepreviously described filaments 448.

Each filament 448, however, has a hinge point 450 that divides thefilament 448 into a proximal filament segment 452 and a distal filamentsegment 454. As shown in the progression illustrated in FIGS. 22A-22D,pulling the distal hub 446 in the proximal direction causes the distalend of the cutting basket 434 to invert into the proximal end of thecutting basket 434. That is, the distal filament segments 454 foldaround the hinge points 450 towards the proximal filament segments 452,transforming the folded filaments 448 into tissue-grasping arms, withthe hinge points 450 forming the most distal points of the arms.Notably, the hinge points 450 are located distal to the midpoints of thefilaments 448 (i.e., the distal filament segments 454 are shorter thanthe proximal filament segments 452). In this manner, the resultingtissue-grasping arms are relatively short, and therefore have a greaterresistance to lateral bending when grasping tissue.

The actuating device takes the form of a pull wire 456 that extendsthrough the lumen 353 in the drive shaft 332, attaching to the distalhub 446. Thus, when the pull wire 456 is pulled, the cutting basket 434is transformed from a tissue-cutting device to a tissue-grasping device.When the pull wire 456 is relaxed, the tissue-grasping device (due toits resiliency) reverts back to a tissue-cutting device. That is, thedistal filament segments 454 will fold back around the hinge points 450away from the proximal filament segments 452, transforming the filaments448 into tissue-cutting filaments.

Referring now to FIGS. 23 and 24, yet another tissue removal probe 510that can alternatively be used in the tissue removal system 100 will bedescribed. The tissue removal probe 510 is similar to the previouslydescribed tissue removal probe 310 in that it comprises the sleeve 324and proximal adapter 338. The tissue removal probe 510 differs from thetissue removal probe 310 in that it has tissue irrigating functionalityand minimizes inadvertent trauma to distal tissue, otherwise caused by atissue removal element 534.

In particular, the tissue removal probe 510 comprises a drive shaft 532,which is composed of a rigid material, such as stainless steel, and hasa distal end with a non-traumatic blunt tip 536. The blunt tip 536prevents the tissue removal element 534 from abrading or harming distaltissue during use. In the illustrated embodiment, the blunt tip 536 hasa spherical shape. In alternative embodiments, however, the blunt tip536 can have other shapes as well. The drive shaft 332 further comprisesan irrigation lumen 538 (shown in phantom) that terminates in anirrigation port 540 at the blunt tip 536. As previously described,irrigation fluid can be delivered through the irrigation lumen 538 andout of the irrigation port 540 in order to cool the drive shaft 332and/or tissue removal element 534, as well as to wash debris at thetarget site. The irrigation lumen 538 can alternatively be used as aguidewire lumen.

The tissue removal element 534 is formed on the distal end of the driveshaft 332 just proximal to the blunt tip 536. In the illustratedembodiment, the tissue removal device 534 comprises an ellipsoidal burr,although other geometrically shaped burrs can be used. Unlike a cuttingbasket, the cross-section of the burr 534 is relatively more solid,thereby providing more stiffness. Such configuration is advantageous inthat it allows cutting and/or abrading of stiff materials withoutdeforming. In the illustrated embodiment, the burr 534 includes abrasiveparticles, such as diamond dusts, that are disposed on the surface ofthe burr 534. In other embodiments, instead of having diamond dusts,parts of the surface of the burr 534 can be removed to create anabrasive surface. The burr 534 further comprises a spiral cutting groove542. During use, the groove 542 allows bone particles that have beenremoved to travel proximally and away from a target site.

Referring now to FIG. 25, yet another tissue removal probe 610 that canalternatively be used in the tissue removal system 100 will bedescribed. The tissue removal probe 610 is similar to the previouslydescribed tissue removal probe 310 in that it comprises the sleeve 324,drive shaft 332, and proximal adapter 338. The tissue removal probe 610differs from the tissue removal probe 310 in that it comprises a tissueremoval element 634 with counter-pitched grooves.

In particular, the tissue removal element 634 is mounted to the distalend of the drive shaft 332, and takes the form of a cylindrically-shapedburr with proximal spiral cutting grooves 636 and distal spiral cuttinggrooves 638. The respective proximal and distal grooves 636 and 638 areoppositely pitched, such the removed tissue is force to travel along thegrooves 636/638 towards the center of the burr 634 when rotated in aparticular direction (in this case, clockwise if looking down the distalend of the burr 634). In this manner, the removed tissue will tend to becollected in one place, thereby making aspiration of the tissue easier.

Referring now to FIG. 26, yet another tissue removal probe 710 that canalternatively be used in the tissue removal system 100 will bedescribed. The tissue removal probe 710 is similar to the previouslydescribed tissue removal probe 610 with the exception that twocounter-rotating burrs are used.

In particular, the tissue removal probe 710 comprises an outer driveshaft 732 with a lumen 736, and an inner drive shaft 733 disposed withinthe outer drive shaft lumen 736. As such, the drive shafts 732 and 733are independent, and can thus be rotated in opposite directions or thesame direction. The tissue removal probe 710 further comprises proximaland distal removal elements 734 and 735 in the form of cylindrical burrsmounted to the distal ends of the respective drive shafts 732 and 733.The cylindrical burrs 734 and 735 are collinear and coextensive witheach other, so that they can operate as a contiguous tissue removaldevice. Spiral cutting grooves 738 and 740 are formed in the surfaces ofthe respective burrs 734 and 735. In the illustrated embodiment, theabsolute pitch of the spiral grooves 738 on the proximal burr 734 is thesame as the absolute pitch on the distal burr 735. The grooves 738/740,however, are pitched in the opposite direction. Thus, rotation of theproximal burr 734 in one direction (by rotating the outer drive shaft732 in that direction), and rotation of the distal burr 735 in theopposite direction (by rotating the inner drive shaft 733 in thatdirection) will stabilize the tissue removal probe 710 as it islaterally cutting through tissue, e.g., bone tissue. That is, thecounter-rotating burrs 734/735 prevents, or at least minimizes, thetendency of the tissue removal probe 710 to stray from its intended cutpath.

Alternatively, the burrs 734/735 can be rotated in the same direction,preferably in a direction that forces the removed tissue to travel alongthe grooves 738/740 of the respective burrs 734/735 towards theinterface between the burrs 734/735. In this manner, the removed tissuewill tend to be collected in one place, thereby making it more easilyaspirated. Thus, it can be appreciated that the independence of theouter and inner drive shafts 732/733, allows the respective burrs734/735 to be selectively rotated in opposite directions or rotated inthe same direction.

Referring now to FIG. 27, yet another tissue removal probe 810 that canalternatively be used in the tissue removal system 100 will bedescribed. The tissue removal probe 810 is similar to the previouslydescribed tissue removal probe 310 in that it comprises the sleeve 324,drive shaft 332, and proximal adapter 338. The tissue removal probe 810differs from the tissue removal probe 310 in that it comprises a tissueremoval element 834 configured to drill holes through bone, whereas thetissue removal element of the tissue removal probe 310, as well as thosesubsequently described in tissue removal probes 410, 510, 610, and 710,lend itself well to the lateral removal of hard bone tissue, e.g.,during laminectomy and laminotomy procedures.

In particular, the tissue removal element 834 takes the form of a drillbit mounted at the distal end of the drive shaft 332. The drill bit 834has a sharp distal tip 836 that allows the rotating drill bit 834 topenetrate or shape bone tissue. In the illustrated embodiment, the drillbit 834 has a length that is between % and 1 inch, and a diameter thatis between 1/100 and ½ inch. The drill bit 834 includes two flutedcutting grooves 838 that extend down opposite sides of the drill bit834, as shown in FIG. 28.

Referring now to FIG. 29, yet another tissue removal probe 910 that canalternatively be used in the tissue removal system 100 will bedescribed. Unlike in the previously described embodiments, which haverotatable tissue removal elements, the tissue removal probe 910comprises a reciprocating tissue removal element. In particular, thetissue removal probe 910 comprises a rigid drive shaft 912 having adistal end 914, and a tissue removal element 934 formed on the distalend 914 of the drive shaft 912. The tissue removal element 934 comprisea block 936 with a series of cascading tissue-cutting notches 938longitudinally formed along the block 934. As a result, a series ofsharp leading edges 940 are formed along the block 934. In theillustrated embodiment, the block 936 has a rectangular cross-section.

Thus, it can be appreciated that the tissue removal element 934 can beplaced within a hole or groove in a bone, and reciprocatably moved toremove bone tissue from the bone, thereby enlarging the hole. A motorcan be configured to apply a hammering motion (i.e., a forward andrearward motion) to drive the shaft 912.

Although particular embodiments of the present invention have been shownand described, it should be understood that the above discussion is notintended to limit the present invention to these embodiments. It will beobvious to those skilled in the art that various changes andmodifications may be made without departing from the spirit and scope ofthe present invention. In addition, an illustrated embodiment needs nothave all the aspects or advantages of the invention shown. An aspect oran advantage described in conjunction with a particular embodiment ofthe present invention is not necessarily limited to that embodiment andcan be practiced in any other embodiments of the present invention evenif not so illustrated. Thus, the present invention is intended to coveralternatives, modifications, and equivalents that may fall within thespirit and scope of the present invention as defined by the claims.

1. A tissue removing medical device, comprising: a tubular member havinga working channel and an auxiliary channel; a shaft extending throughthe working channel of the tubular member, the shaft having a distal endregion; and a rotatable cutting burr coupled to the distal end region ofthe shaft.
 2. The tissue removing medical device of claim 1, whereinauxiliary channel is an aspiration channel.
 3. The tissue removingmedical device of claim 1, wherein auxiliary channel is an irrigationchannel.
 4. The tissue removing medical device of claim 3, wherein thetubular member further comprises an aspiration channel.
 5. The tissueremoving medical device of claim 1, wherein the tubular member furthercomprises a steering mechanism.
 6. The tissue removing medical device ofclaim 1, wherein the shaft is axially movable relative to the tubularmember.
 7. The tissue removing medical device of claim 1, wherein theshaft is rotatable relative to the tubular member.
 8. The tissueremoving medical device of claim 1, wherein the shaft is axially movableand rotatable relative to the tubular member.
 9. The tissue removingmedical device of claim 1, further comprising a drive motor coupled tothe shaft.
 10. The tissue removing medical device of claim 1, whereinthe tubular member includes a window cutout positioned proximally of adistal end of tubular member.
 11. The tissue removing medical device ofclaim 1, wherein the rotatable cutting burr includes a plurality oftissue-cutting structures designed to resect tissue.
 12. A tissueremoving medical device, comprising: a tubular sleeve having a pluralityof lumen extending therethrough, the plurality of lumens including afirst lumen; a drive shaft extending through the first lumen, the driveshaft having a distal end region; and a cutting member coupled to thedistal end region of the drive shaft.
 13. The tissue removing medicaldevice of claim 12, wherein the cutting member includes a reciprocatingcutting member.
 14. The tissue removing medical device of claim 12,wherein the cutting member includes a burr.
 15. The tissue removingmedical device of claim 14, wherein the burr includes a helical groove.16. The tissue removing medical device of claim 12, wherein the cuttingmember includes an expandable basket.
 17. The tissue removing medicaldevice of claim 12, wherein the cutting member includes a drill bit. 18.The tissue removing medical device of claim 12, wherein the tubularsleeve includes a window cutout positioned proximally of a distal end oftubular sleeve.
 19. A tissue removing medical device assembly,comprising: a tubular sleeve having a plurality of lumen extendingtherethrough, the plurality of lumens including a first lumen; a driveshaft extending through the first lumen, the drive shaft having a distalend region; a drive motor coupled to the drive shaft, the drive motorbeing designed to rotate the drive shaft; and a burr coupled to thedistal end region of the drive shaft.
 20. The tissue removing medicaldevice assembly of claim 19, wherein the tubular sleeve includes awindow cutout positioned proximally of a distal end of tubular sleeve.